@ Deac
did you or someone else train the dog
what breed was he again...i dont remember

it could be this when he does it as puppy too..
a lot like when they heel like this i think they say i is a more "submissive" way for the dog and push him to walk there...did see it often with so called no force owner-trainer what i found strange...but well who knows...
some say head has to be on the leg, other say the shoulder and so on..^^
i have to say...i dont know how to get a dog to get more to the front....maybe light pulls on the leash with half turned in hand with a heel front command......
or maybe put in turns that are very sharp and fast, to the right and left, go slower and more fast too.....around trees up and down hills while you turn left and right and back with no sign bevor...to make the dog more awake on your walks....
and to the back up....hill work helps...also a fence or wall...ad you Keep the other side closed...train slow, one step and then the next bevor you do something different...dogs do not like back up so much for long time...you can try and train them, massage them and do a good warm up bevor you try back up......
and for some ddogs it may be painful or not good to do...so when it is like this then you only can do some steps back when even this....